Cui, X. and Chen, G., "Study on Reconfigurable Driving Force Allocation Strategy of Distributed Driving Electric Vehicle," SAE Technical Paper 2016-01-8026, 2016, doi:10.4271/2016-01-8026.
The distributed driving electric vehicle, uses four in-wheel motors as distributed power sources is a typical over-actuated system. Thus, this kind of vehicle has better stability potential and fault tolerance than the conventional one. In this paper, the general structure of fault-tolerance control (FTC) system based on control allocation is analyzed. And a reconfigurable driving force allocation strategy is proposed to ensure the trajectory tracking and stability when some motors’ faults occur. Both the constraints of tire force and actuators are taken into consideration. With motors’ faults treated as the constraints of actuators, FTC is integrated. For validation, the proposed allocation strategy is simulated in co-simulation environment based on Carsim and Matlab/Simulink.